Digital dental modeling

ABSTRACT

Embodiments are provided for digital dental modeling. One method embodiment includes receiving a three-dimensional data set including a first jaw and a second jaw of a three-dimensional digital dental model and receiving a two-dimensional data set corresponding to at least a portion of the first jaw and the second jaw. The method includes mapping two-dimensional data of the two-dimensional data set to the three-dimensional digital dental model by transforming a coordinate system of the two-dimensional data to a coordinate system of the three-dimensional data set. The method includes positioning the first jaw with respect to the second jaw based on the two-dimensional data mapped to the three-dimensional data set. The method includes using at least a portion of the two-dimensional data mapped to the three-dimensional data set as a target of movement of the first jaw with respect to the second jaw in the three-dimensional digital dental model.

RELATED APPLICATIONS

This application is a divisional of U.S. application Ser. No.14/553,556, filed Nov. 25, 2014, which is a divisional of U.S.application Ser. No. 12/583,479, filed Aug. 21, 2009, which issued asU.S. Pat. No. 8,896,592 on Nov. 25, 2014, the entire contents of whichare hereby incorporated by reference.

BACKGROUND

The present disclosure is related generally to the field of dentaltreatment. More particularly, the present disclosure is related tomethods, devices, and systems for bite setting digital dental models.

Many dental treatments involve repositioning misaligned teeth andchanging bite configurations for improved cosmetic appearance and dentalfunction. Orthodontic repositioning can be accomplished, for example, byapplying controlled forces to one or more teeth over a period of time.

An example of orthodontic repositioning that can occur can be through adental process that uses positioning appliances for realigning teeth.Such appliances may utilize a thin shell of material having resilientproperties, referred to as an “aligner” that generally conforms to apatient's teeth but is slightly out of alignment with the initial toothconfiguration.

Placement of such an appliance over the teeth can provide controlledforces in specific locations to gradually move the teeth into a newconfiguration. Repetition of this process with successive appliances inprogressive configurations can move the teeth through a series ofintermediate arrangements to a final desired arrangement.

Such systems typically utilize materials that are light weight and/ortransparent to provide as a set of appliances that can be used seriallysuch that as the teeth move, a new appliance can be implemented tofurther move the teeth.

With computer-aided teeth treatment systems, an initial digital data set(IDDS) representing an initial tooth arrangement may be obtained. TheIDDS may be obtained in a variety of ways. For example, the patient'steeth may be scanned or imaged using X-rays, three-dimensional X-rays,computer-aided tomographic images or data sets, magnetic resonanceimages, etc.

A cast (e.g., a plaster cast and/or mold) of the patient's teeth may bescanned using a laser scanner or other range acquisition system toproduce the IDDS. The data set produced by the range acquisition systemmay be converted to other formats to be compatible with the softwarewhich is used for manipulating images within the data set, as describedherein.

After scanning, computer models of teeth on an upper jaw and a lower jawmay be generated. However, these models may not be aligned with respectto each other. Thus, a bite setting operation may be performed to alignthe digital dental model including the upper and lower jaws.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a dental position adjustment appliance being appliedto a set of teeth according to one or more embodiments of the presentdisclosure.

FIGS. 2-5 are flow charts illustrating methods for digital dentalmodeling according to one or more embodiments of the present disclosure.

FIG. 6 illustrates a photograph of a portion of a patient's jaws and adigital dental model corresponding to the patient's jaws according toone or more embodiments of the present disclosure.

FIG. 7A illustrates a proximal view of a tooth from a digital dentalmodel according to one or more embodiments of the present disclosure.

FIG. 7B illustrates a proximal view of the tooth from the digital dentalmodel illustrated in FIG. 7A in a bite set position according to one ormore embodiments of the present disclosure.

FIG. 8A illustrates a digital dental model in an initial position with anumber of forces acting thereon according to one or more embodiments ofthe present disclosure.

FIG. 8B illustrates the digital dental model of FIG. 8A in a bite setposition according to one or more embodiments of the present disclosure.

FIG. 9 illustrates a digital dental model with simulated anatomicalmovement of a lower jaw according to one or more embodiments of thepresent disclosure.

FIG. 10 illustrates a system for digital dental modeling according toone or more embodiments of the present disclosure.

DETAILED DESCRIPTION

Embodiments are provided for digital dental modeling. One methodembodiment includes receiving a three-dimensional data set including afirst jaw and a second jaw of a three-dimensional digital dental modeland receiving a two-dimensional data set corresponding to at least aportion of the first jaw and the second jaw. The method includes mappingtwo-dimensional data of the two-dimensional data set to thethree-dimensional digital dental model by transforming a coordinatesystem of the two-dimensional data to a coordinate system of thethree-dimensional data set. The method includes positioning the firstjaw with respect to the second jaw based on the two-dimensional datamapped to the three-dimensional data set. The method includes using atleast a portion of the two-dimensional data mapped to thethree-dimensional data set as a target of movement of the first jaw withrespect to the second jaw in the three-dimensional digital dental model.

Some method embodiments can include receiving a three-dimensional dataset including an upper jaw and a lower jaw of a three-dimensionaldigital dental model. Such embodiments can include receiving a pluralityof two-dimensional data sets each corresponding to at least a portion ofthe upper jaw and the lower jaw. Some embodiments can include mappingtwo-dimensional data of the plurality of two-dimensional data sets tothe three-dimensional digital dental model by transforming a coordinatesystem of the two-dimensional data to a coordinate system of thethree-dimensional data set. One or more embodiments can includesimulating anatomical movement of the lower jaw with respect to theupper jaw based on the two-dimensional data mapped to thethree-dimensional data set in the three-dimensional digital dentalmodel.

One or more system embodiments can include a three-dimensional digitaldental model including a first jaw and a second jaw. Such systems caninclude a two-dimensional image of a patient's teeth corresponding tothe teeth of the three-dimensional digital dental model. The systems caninclude a correlation module configured to correlate the two-dimensionalimage with the three-dimensional digital dental model.

FIG. 1 illustrates a dental position adjustment appliance being appliedto a set of teeth according to one or more embodiments of the presentdisclosure. Appliances according to the present disclosure can include,in some embodiments, a plurality of incremental dental positionadjustment appliances. The appliances, such as appliance 102 illustratedin FIG. 1, can be utilized to affect incremental repositioning ofindividual teeth in the jaw, among other suitable uses.

Appliances can include any positioners, retainers, and/or otherremovable appliances for finishing and maintaining teeth positioning inconnection with a dental treatment. These appliances may be utilized bythe treatment professional in performing a treatment plan. For example,a treatment plan can include the use of a set of appliances, createdaccording to models described herein.

An appliance (e.g., appliance 102 in FIG. 1) can, for example, befabricated from a polymeric shell, and/or formed from other material,having a cavity shaped to receive and apply force to reposition one ormore teeth from one teeth arrangement to a successive teeth arrangement.The shell may be designed to fit over a number of, or in many instancesall, teeth 104 present in the upper and/or lower jaw.

FIGS. 2-5 are flow charts illustrating methods for digital dentalmodeling according to one or more embodiments of the present disclosure.At 201 in FIG. 2, three-dimensional (3D) scans of physical dental moldsof a patient's jaws can be segmented into a number of teeth. That is,each tooth can be modeled individually. For example, each tooth can bemodeled as a 3D mesh space volume having a particular density. In someembodiments, all teeth can be modeled with the same density.

At 203, an operator (e.g., a dental professional) can mark points on aphotograph of a patient's jaws in a bite configuration and on thedigital 3D model of the patient's jaws. The points marked on the digitalmodel of the patient's jaws can correspond to the points marked on thephotograph (e.g., both sets of points can have a 1:1 correspondence suchthat each point marked on the photograph has a corresponding pointmarked on the digital dental model). As described herein, usingclose-range photography can aid in the accuracy of the correspondencebetween points marked on the digital dental model and points marked onthe photograph.

At 205, software can set initial positions of the digital model of thepatient's jaws. When the scans of the physical dental molds aresegmented into a number of teeth, a relational correspondence betweenteeth in the upper jaw and lower jaw of the digital dental model can bedetermined. For example, a general relational (e.g., positional)correspondence between a right upper incisor and a right lower incisorcan aid in setting an initial position for the dental (e.g., digital)model of the patient's jaws. In some embodiments, an initial positioncan be set according to a class of occlusion associated with the patient(e.g., normal, overbite, or underbite).

At 207, software can calculate a number of forces including photoattraction forces, reaction forces, and an axial force (e.g., gravity).Photo attraction forces can include forces applied at a number of pointsmarked on the 3D digital dental model corresponding to a number ofpoints marked on a 2D image of a patent's jaws in a bite configuration.The photo attraction forces can be simulated in a direction parallel toa plane fit to the number of points marked on the digital dental modeland toward a number of points mapped to the plane from the number ofpoints marked on the two-dimensional image. Such forces can assist thebite setting operation in converging on a correct and/or accuratesolution.

Reaction forces can include forces arising from a simulated collisionbetween a fixed jaw of the digital dental model and a non-fixed jaw ofthe digital dental model, or between two non-fixed jaws of the digitaldental model. During simulation of movement, if the two jaws have notcome into contact from their initial positions, then there would be zeroreaction force acting on the digital dental model. As used herein, afixed jaw of the digital dental model is a jaw that has one or moredegrees of freedom constrained within the model (e.g., all six degreesof freedom can be constrained for the fixed jaw).

An axial force can be simulated along an axial direction between the twojaws of the digital dental model. For example, the axial force can beapplied along an axis between the center of mass of the upper jaw and acenter of mass of the lower jaw. In some embodiments, the axial forcecan be simulated as gravity.

At 209, software can move a first jaw (e.g., the upper jaw) for onestep. The first jaw can move in response to the number of forcescalculated at 207 being applied to the first jaw. In some embodiments,simulation of movement can be divided into a number of steps (e.g.,discrete time steps). Such embodiments can allow for recalculation offorces between movement elements (e.g., time steps).

At 211, if the upper jaw has noticeably moved during the last N steps,the method can return to 207, where the number of forces can berecalculated. In such instances, movement of the first jaw can besimulated in response to the recalculated forces. At 211, if the upperjaw has not noticeably moved during the last N steps, the bite settingcan be finished at 213. The position of the upper and lower jaws at thispoint can be reported as the bite set.

Although the upper jaw of the digital dental model may be describedgenerally as the non-fixed jaw while the lower jaw of the digital dentalmodel may be described as the fixed jaw, embodiments are not so limited.For example, in some embodiments, the upper jaw may be fixed while thelower jaw is non-fixed. In various embodiments, both jaws can benon-fixed.

FIG. 3 is a flow chart illustrating a method for digital dental modelingaccording to one or more embodiments of the present disclosure. At 301,the method can include receiving a three-dimensional data set includinga first jaw and a second jaw of a three-dimensional digital dentalmodel. At 303, the method can include receiving a two-dimensional dataset corresponding to at least a portion of the first jaw and the secondjaw.

At 305, the method can include mapping two-dimensional data of thetwo-dimensional data set to the three-dimensional digital dental modelby transforming a coordinate system of the two-dimensional data to acoordinate system of the three-dimensional data set. The two-dimensionaldata set, as used herein, refers to a collection of individualtwo-dimensional data points.

At 307, the method can include positioning the first jaw with respect tothe second jaw based on the two-dimensional data mapped to thethree-dimensional data set. For example, such positioning can setinitial relative positions of the first and the second jaw of thethree-dimensional digital dental model.

At 309, the method can include using at least a portion of thetwo-dimensional data mapped to the three-dimensional data set as atarget of movement of the first jaw with respect to the second jaw inthe three-dimensional digital dental model. Using two-dimensional datamapped to the three-dimensional data set can help provide a moreaccurate bite set than is provided according to some previousapproaches.

FIG. 4 is a flow chart illustrating a method for digital dental modelingaccording to one or more embodiments of the present disclosure. At 401,the method can include receiving a three-dimensional data set includingan upper jaw and a lower jaw of a three-dimensional digital dentalmodel. In one or more embodiments, data corresponding to the upper jawand the lower jaw of the three-dimensional data set can be acquiredseparately.

At 403, the method can include receiving a plurality of two-dimensionaldata sets each corresponding to at least a portion of the upper jaw andthe lower jaw. For example, each of the plurality of two-dimensionaldata sets can be associated with a respective photograph. In someembodiments, each respective photograph can be a photograph of apatient's jaw in one of a number of positions between opened and closed,inclusively.

At 405, the method can include mapping two-dimensional data of theplurality of two-dimensional data sets to the three-dimensional digitaldental model by transforming a coordinate system of the two-dimensionaldata to a coordinate system of the three-dimensional data set. Forexample, data associated with one or more photographs of a patient'sjaws can be mapped onto a digital dental model of the patient's jaws.

At 407, the method can include simulating anatomical movement of thelower jaw with respect to the upper jaw based on the two-dimensionaldata mapped to the three-dimensional data set in the three-dimensionaldigital dental model. For example, such simulated anatomical movementcan represent an opening and/or closing of a patient's jaws.

FIG. 5 is a flow chart illustrating a method for digital dental modelingaccording to one or more embodiments of the present disclosure. At 501,the method can include simulating movement of a first jaw of athree-dimensional digital dental model in response to a number of forcesincluding: an axial force applied to the first jaw toward a second jawof the three-dimensional digital dental model, a number of photoattraction forces applied to the first jaw, and a number of reactionforces from interaction of the first jaw and the second jaw.

At 503, the method can include reporting a bite set where the axialforce, the number of photo attraction forces, and the number of reactionforces reach an equilibrium such that the first jaw ceases moving. Whenthe forces acting on the three-dimensional digital dental model reach anequilibrium, the simulation can transition from dynamic to static. Thatis, the non-fixed jaw can cease moving in the simulation and a stablebit set can be reached.

The discussion of FIGS. 6-9 includes reference to a number of points.For clarity, a brief description of the various points is in order.Points denoted “x” (lower case) represent points marked on atwo-dimensional (2D) image (e.g., a photograph) of a patient's teeth.Points denoted “x” can have a 2D coordinate system (e.g., because the xpoints are associated with a 2D image).

Points denoted “X” (upper case) represent points marked on a 3D digitaldental model associated with the patient's teeth that correspond to x(lower case) points, as described herein. For example, a particular Xpoint marked on the 3D digital dental model can correspond to aparticular x point marked on the 2D image of the patient's teeth (e.g.,the particular X point and the particular x point can be marked inessentially the same position on the patient's teeth). X (upper case)points can have a 3D coordinate system (e.g., because the X points areassociated with a 3D model).

Points denoted “Y” represent X points fit to a common plane p (e.g.,projected onto plane p), as described herein. That is, X points markedon the 3D digital dental model may not inherently fit a common planebecause they are marked in a 3D coordinate system. However, according toone or more embodiments of the present disclosure, X points can beprojected to a common plane “p,” and after which are denoted as Y points(e.g., a change in 3D coordinates for a particular X point may occurwhen the particular X point is projected to the plane p).

Points denoted “G⁻¹(x)” represent 2D x points that are mapped to the 3Ddigital dental model. That is, a 2D coordinate system associated withthe x points can be transformed to a 3D coordinate system associatedwith the 3D digital dental model. As such, the x points can be “put on”the digital dental model and denoted as “G⁻¹(x) points.” Detailsassociated with these various points are included with the discussion ofFIGS. 6-9 below.

FIG. 6 illustrates a photograph of a portion of a patient's jaws and adigital dental model corresponding to the patient's jaws according toone or more embodiments of the present disclosure. The 2D image (e.g.,photograph) 650 depicts a number of teeth from a patient's upper jaw(e.g., upper arch) and lower jaw (e.g., lower arch) in a biteconfiguration. That is, the photograph can be taken of the patient'steeth while the patient is biting. Such embodiments can provide areference for an accurate bite alignment of a digital dental model 651of the patient's jaws.

A 2D data set can include a portion of data received from a 2D imagingdevice (e.g., a camera). The 2D data set can include a portion of datareceived from a GUI displaying a 2D image, where the portion of datareceived from the GUI includes at least three points marked on the 2Dimage.

A 3D data set (e.g., an IDDS) can include a portion of data receivedfrom a scan of a patient's teeth or a scan of a physical model (e.g.,mold) of the patient's teeth. The 3D data set can include a portion ofdata received from a GUI displaying a 3D digital dental model, where theportion of data received from the GUI includes at least three pointsmarked on a jaw of the 3D digital dental model.

As described herein, data comprising the upper jaw 653 and the lower jaw655 may be obtained independently of each other and/or withoutinformation about relative positions of the upper jaw 653 and the lowerjaw 655 in a bite configuration. Mapping information about the patient'sjaws in a bite configuration (e.g., from a photograph thereof) can aidin bite setting the 3D digital dental model 651. That is, suchinformation can aid in accurately positioning the upper jaw 653 and thelower jaw 655 in a bite configuration.

One or more embodiments can include acquiring a 2D image and datacomprising the 3D digital dental model at a same stage of patienttreatment. Some embodiments can include acquiring the 2D image at alater stage of patient treatment than a stage during which datacomprising the 3D digital dental mode is acquired. That is, photographsof a patient's teeth can be taken at a later stage of treatment to beused to update the digital dental model without the time and expense ofreacquiring the 3D data.

In some embodiments, the photograph 650 can be a close-range photograph.A close-range photograph may have a shallow depth of sharply reproducedspace (e.g., depth of field). That is, a close-range photograph may onlybe in focus for a narrow range of distances from the lens of the camera(e.g., a few millimeters). Accordingly, a number of points on aclose-range photograph image that are in focus can be approximated asbeing within a same plane (e.g., to within an error corresponding to thedepth of field associated with the particular image).

According to one or more embodiments of the present disclosure, thepatient's upper and lower jaw can be two-dimensionally imaged (e.g.,photographed) with a 2D imaging device (e.g., a camera) without applyingphysical targets to the patient. Such embodiments can provide a numberof advantages over some previous approaches which required the use oftargets fixed to the subject of the photograph in order to latercorrelate 2D and 3D data.

According to one or more embodiments of the present disclosure, anoperator (e.g., a dental professional) can mark a number of first points(e.g., x points) on the photograph 650. In some embodiments, the xpoints can be marked on sharp singularities (e.g., points that are infocus on the image). In one or more embodiments, x points can be markedon dental reference points (e.g., cusp tips). The photograph 650 isshown marked with a number of x points (e.g., point 652). The number ofpoints marked on the photograph can be represented by the set Q, where xrepresents a member (e.g., point 652) of the set Q (e.g., x ∈ Q).

In various embodiments, the operator can mark a number of second points(e.g., X points) on the 3D digital dental model 651 that correspond tothe x points marked on the photograph. The number of points marked onthe digital dental model can be represented by the set P, where Xrepresents a member (e.g., point 658) of the set P (e.g., X ∈ P).

The operator can mark corresponding X points on the digital dental modelby reference to a printed photograph, a scanned image of a printedphotograph on a display, or a copy of a digital image on a display,among other types of photograph images having marked x points. Forexample, the operator can mark point 652 on photograph 650 and then markpoint 658 on the digital dental model 651. That is, the operator canmark an x point at a particular location on the patient's teeth on thephotograph, and then mark a corresponding X point at the same particularlocation on the patient's teeth on the digital dental model.

The operator can mark x points on a printed photograph with a writingutensil and/or on a digital image of a photograph on a display using aninput to a computing device (e.g., through a graphical user interface(GUI) associated with the computing device). Likewise, the operator canmark X points on a digital dental model using an input (e.g., a mouse,stylus, touch screen, etc.) to a computing device having a display of animage of the digital dental model. In one or more embodiments, thenumber of x points marked on the photograph can be equal to the numberof X points marked on the digital dental model (e.g., both thephotograph and the digital dental model can have a number of pointsequal to k marked thereon).

A coordinate system for the photograph can be determined by a computingdevice according to the number of points marked on the photograph (e.g.,on a digital photograph or on a scanned image of a physical photograph).Likewise, an operator can mark a number of points on a physicalphotograph and determine a coordinate system independently of thecomputing device (e.g., using a ruler or other measuring device). Insuch embodiments, the operator can enter the coordinate informationcorresponding to the points marked on the photograph into a computingdevice.

In various embodiments, a rough approximation of a bite for the digitaldental model may be provided (e.g., an initial position of the upper jaw653 and the lower jaw 655 of the digital dental model 651 with respectto each other). As data comprising the upper jaw 653 may be obtainedseparately from data comprising the lower jaw 655 (e.g., from a scan ofa patient's upper bite mold and a scan of a patient's lower bite mold),some initial positioning can help correlate otherwise unrelated data.With initial positioning, the set of points P marked on the upper jaw653 and the lower jaw 655 of the digital dental model 651 can have acommon 3D coordinate system.

To facilitate mapping of the x points to the 3D digital dental model651, the X points can be projected to a plane as described herein. Aplane p can be fit to the set of points P. For example, a plane p can befit to set P by a least-square fit method.

Plane p can have an orthogonal projection π. The set of X points P onthe digital dental model can be projected on plane p and denoted asthird points (e.g., Y points). The Y points can have a definedcoordinate system on plane p:

Y _(i)≡(Y _(i1) , Y _(i2)), i32 1, . . . , k   (1)

The deviation of the set P from the plane p can be negligible comparedto the distance of a point X in set Q to the camera. For example,non-planarity of cloud P (e.g., the 3D set of points P) can be about 3mm for a 500×300 resolution (e.g., approximately 0.15 mm per pixel)photograph taken of an approximately 10 mm tooth at an approximateshooting distance of 300 mm. That is, an approximate error for a 10 mmtooth can be about 0.1 mm, yielding an error throughphotograph-constrained directions of approximately 0.3 mm. Embodimentsare not limited to this particular example, which may generallyillustrate the accuracy of one or more embodiments of the presentdisclosure.

Thus, the camera can be approximated with a composition of theprojection π and a projective 2D to 2D transformation G. Having at leastfour points in the set P, action of G in homogenous coordinates is:

$\begin{matrix}{{G( Y_{i} )} = {\begin{pmatrix}g_{11} & g_{12} & g_{13} \\g_{21} & g_{22} & g_{23} \\g_{31} & g_{32} & g_{33}\end{pmatrix} \cdot \; ( {Y_{i\; 1}:{Y_{i\; 2}:1}} )^{T}}} & (2)\end{matrix}$

that is:

$\begin{matrix}{{G( Y_{i} )} = ( {\frac{{g_{11}Y_{i\; 1}} + {g_{12}Y_{i\; 2}} + g_{13}}{{g_{31}Y_{i\; 1}} + {g_{32}Y_{i\; 2}} + g_{33}},\frac{{g_{21}Y_{i\; 1}} + {g_{22}Y_{i\; 2}} + g_{23}}{{g_{31}Y_{i\; 1}} + {g_{32}Y_{i\; 2}} + g_{33}}} )} & (3)\end{matrix}$

in affine coordinates.

Coordinates of a point on the photograph 650 can be denoted as(x_(i1),x_(i2)). Conditions {G(Y_(i))=x_(i)} for 1≦i≦k can lead to anoverdetermined system on G:

$\begin{matrix}{{\begin{pmatrix}Y_{11} & Y_{12} & 1 & 0 & 0 & 0 & {{- x_{11}}Y_{11}} & {{- x_{11}}Y_{12}} & {- x_{11}} \\0 & 0 & 0 & Y_{11} & Y_{12} & 1 & {{- x_{12}}Y_{12}} & {{- x_{12}}Y_{12}} & {- x_{12}} \\Y_{21} & Y_{22} & 1 & 0 & 0 & 0 & {{- x_{21}}Y_{21}} & {{- x_{21}}Y_{22}} & {- x_{21}} \\0 & 0 & 0 & Y_{21} & Y_{22} & 1 & {{- x_{22}}Y_{21}} & {{- x_{22}}Y_{22}} & {- x_{22}} \\\vdots & \vdots & \vdots & \vdots & \vdots & \vdots & \vdots & \vdots & \vdots \\Y_{k\; 1} & Y_{k\; 2} & 1 & 0 & 0 & 0 & {{- x_{k\; 1}}Y_{k\; 1}} & {{- x_{k\; 1}}Y_{k\; 2}} & {- x_{k\; 1}} \\0 & 0 & 0 & Y_{k\; 1} & Y_{k\; 2} & 1 & {{- x_{k\; 2}}Y_{k\; 1}} & {{- x_{k\; 2}}Y_{k\; 2}} & {- x_{k\; 2}}\end{pmatrix} \cdot \begin{pmatrix}g_{11} \\g_{12} \\g_{13} \\g_{21} \\g_{22} \\g_{23} \\g_{31} \\g_{32} \\g_{33}\end{pmatrix}} = 0} & (4)\end{matrix}$

Transformation G can be defined by a non-zero solution of theoverdetermined system on G. Transformation G can represent a cameraprojection of the plane p to the 2D space of the photo image. G⁻¹ canrepresent the inverse mapping.

The transformation G⁻¹ can map marked photograph points x to plane p. Xpoints are shown in black in FIG. 6 and transformed points G⁻¹(Q) areshown in white (e.g., as empty points). For example, “G⁻¹(x) point” 660can represent x point 652 from photograph 650 transformed onto the 3Ddigital dental model 651.

3D points G⁻¹(Q) can be used as target points for the points π(P) (e.g.,in order to position the upper jaw 653 and the lower jaw 655 in a biteconfiguration). For k≧5 in general G·π(P)≠Q. A photo attraction forcecan be defined at a point X ∈ P as:

F(X)=−const·(π(X)−G ⁻¹(x))   (5)

where X ∈ Q is the 2D point corresponding to X.

A “photo attraction force” can be a simulated force on the 3D digitaldental model 651 to aid in moving a jaw (e.g., the upper jaw 653 and/orthe lower jaw 655) to a position relative to the opposite jaw such thatthe 3D digital dental model 651 is bite set (e.g., in a biteconfiguration). The photo attraction force, for example, can be appliedto an X point in a direction parallel to the plane p and toward a“G⁻¹(x) point” (e.g., toward a point mapped to the 3D digital dentalmodel from the photograph of the patient's teeth in a biteconfiguration).

The transformed points can be targets of movement of 3D points Y ∈π(P).Y points may generally be fairly close to X points, thus, for ease ofillustration, Y points are not illustrated in FIG. 6. However, a Y pointand an X point are illustrated in FIG. 7A.

Some embodiments can include the use of more than one photograph. Insuch embodiments, additional photographs can be taken of the patient'steeth from the same or different angles than the photograph 650illustrated in FIG. 6. For example, embodiments can include the use ofthree photographs, one taken from the front of the patient's jaws (e.g.,of the patient's anterior teeth), and one from each left and right sidesof the patient's jaws (e.g., of the patient's left and posterior teethrespectively). However embodiments are not so limited, as a differentnumber of photographs can be used with embodiments of the presentdisclosure.

In one or more embodiments, photographs of a patient's jaws can be takenfrom the same general perspective and include images of the patient'sjaws in different relative positions (e.g., between opened and closed).Such embodiments can be beneficial in providing information suitable toascertaining a range of motion of the patient's jaws and/or a pivotpoint for the patient's jaws. For example, a number of photographs caninclude the patient's jaws in an open configuration, in a closedconfiguration, and one or more positions between open and closed.

Points (e.g., x points) can be marked on a same position on thepatient's jaws in each photograph. Corresponding X points can be markedon the 3D digital dental model 651. The X points can be fit to a commonplane p as Y points. The x points can be mapped to the 3D digital dentalmodel 651 to provide information regarding movement of the lower jaw655. A pivot point of the lower jaw 655 can be extrapolated therefrom.

FIG. 7A illustrates a proximal view of a tooth from a 3D digital dentalmodel according to one or more embodiments of the present disclosure. Atooth (e.g., tooth 764) can be one tooth in a digital dental model(e.g., digital dental model 651 illustrated in FIG. 6). As such, thetooth 764 can represent a tooth from a digital dental model that is notin a bite configuration.

The illustration of FIG. 7A can represent a transversal section of thesets P, π(P), and G⁻¹(Q) in that a point from each set is illustrated inassociation with the tooth 764. For example, the tooth 764 includes an Xpoint 758, a Y point 762, and a point G⁻¹(x) 760.

The X point 758 can be marked on the digital dental model by an operatorin correspondence with an x point marked on a photograph of a patient'sjaws. The Y point 762 can be a representation of the X point 758projected onto plane p 754 in accordance with one or more embodiments ofthe present disclosure. As described herein, the plane p 754 can be fitto a number of X points marked on the digital dental model.

As the number of X points may not lie directly on the plane p 754, theymay be projected onto the plane p 754 by a projection π as describedherein. Such X points projected onto the plane p may be labeled as Ypoints. As the reader will appreciate, plane p 754 is illustrated inFIG. 7A as a line because it runs into and out of the page (e.g., theline illustrated in FIG. 7A as plane p 754 is a cross section of theplane p 754).

As illustrated in FIG. 7A, points mapped to a digital dental model froma photograph can be mapped to a plane p (e.g., a best-fit plane to anumber of X points on the digital dental model). The G⁻¹(Q) point (e.g.,G⁻¹(x) point 760) can represent an x point from a photograph mapped tothe digital dental model associated with tooth 764. As used herein,mapping a point to a digital dental model can include mapping a point to3D space associated with a digital dental model. For example, the point760 has been mapped to space associated with the digital dental model ofwhich the tooth 764 is a member, although the point 760 does not contactthe tooth 764 as illustrated in FIG. 7A.

A photo attraction force (e.g., F(x) 766) can be applied to the digitaldental model (e.g., to tooth 764) at an X point (e.g., X point 758). Asillustrated in FIG. 7A, the photo attraction force can act parallel tothe plane p 754. In some embodiments, the photo attraction force can actin the plane p, for example, when the X point lies in plane p.

Some embodiments can include simulating a number of photo attractionforces between X points (e.g., point 758) marked on the digital dentalmodel corresponding to a number of x points marked on a photograph of apatent's jaws in a bite configuration and a number of G⁻¹(x) points(e.g., point 760) mapped to the digital dental model from the number ofx points marked on the photograph. In some instances, an X point and a Ypoint may be substantially proximate that a difference in effect on thedigital dental model from simulating a force using the X point versusthe Y point as an application point of the simulated force isnegligible.

In various embodiments, when the digital dental model is allowed to moveat least partially in response to the operation of the photo attractionforce, a Y point associated with the X point to which the photoattraction force is applied can move towards a corresponding G⁻¹(x)point. For example, as the photo attraction force F(X) 766 is applied tothe X point 758, the Y point 762 can move toward the photograph mappedpoint G⁻¹(x) 760. Accordingly, a jaw that is not held fixed in thedigital dental model can move with the moving point. Such embodimentscan be beneficial in helping to bite set a digital dental model usinginformation obtained from one or more photographs of a patient's jaws ina bite configuration.

FIG. 7B illustrates a proximal view of the tooth from the digital dentalmodel illustrated in FIG. 7A in a bite set position according to one ormore embodiments of the present disclosure. The tooth 764-1 can beanalogous to the tooth 764 in FIG. 7A. However, in FIG. 7B, the tooth764-1 is in a bite set position with tooth 764-2.

In some embodiments, a bite set position can be reported for a digitaldental model where an axial force, a number of photo attraction forces,and a number of reaction forces reach an equilibrium such that the jawthat is not fixed ceases moving in the simulation of movement of thedigital dental model. A number of forces are illustrated acting on thetooth 764-1 such as an axial force 768, a photo attraction force 766,and a number of reaction forces 774.

The axial force 768 can be a force acting along an axis between an upperjaw and a lower jaw of a digital dental model. Although the axial force768 illustrated in FIG. 7B reflects a force pointing upward from a lowerjaw to an upper jaw, embodiments are not so limited. For example, anaxial force can be applied to an upper jaw with respect to a lower jaw(e.g., a gravity force). In some embodiments, one jaw (e.g., either alower jaw or an upper jaw) can be held fixed while a number of forcesare applied to the opposite jaw.

In one or more embodiments, the axial force 768 can be applied at acenter of mass of a jaw that is not held fixed in the digital dentalmodel. In some embodiments, the axial force 768 can be applied at acenter of mass of one or more teeth in a jaw that is not held fixed. Asdescribed herein, a jaw of the digital dental model can be segmentedinto a number of teeth (e.g., where each tooth is defined by a closedmesh).

The photo attraction force 766 illustrated in FIG. 7B can operate asdescribed herein. With respect to the differences in the illustrationsof FIGS. 7A and 7B, the tooth 764-1, and accordingly the remainder ofthe jaw associated therewith in the digital dental model, have moved toa bite set position. For example, tooth 764-1 has come into contact withtooth 764-2. As the Y point 762 associated with X point 758 has notreached its corresponding G⁻¹(x) point, a photo attraction force 766continues to be applied.

Likewise, Y point 762 has moved closer to G⁻¹(x) point 760. In someinstances, a bite set position may result where a Y point reaches aG⁻¹(x) point. However, in other instances, a Y point may not reach aG⁻¹(x) point, as illustrated in FIG. 7B. That is, the digital dentalmodel may substantially cease moving due to the number of forces actingon the digital dental model reaching an equilibrium without all of the Ypoints on the digital dental model reaching their corresponding G⁻¹(x)points (e.g., their targets of movement).

Due to contact between the tooth 764-1 and the tooth 764-2, a number ofreaction forces 774 have been generated. As described herein, each toothin a digital dental model can be represented by a closed mesh. The meshcan have any flat polygonal face. For example, the mesh can betriangular, and reaction forces can be calculated for each triangle ofthe mesh that lies within the contour of intersection of teeth that comeinto contact with each other. The reaction force for a particulartriangle of the mesh that lies within the contour of intersection can beproportional to the area of the triangle and directed as a normal to thetriangle. Embodiments are not limited to the use of triangular meshesfor modeling teeth in the digital dental model as other types of meshesmay be used.

Such reaction forces can help to prevent a first tooth from a first jawof the digital dental model (e.g., tooth 764-1) from intersecting asecond tooth (e.g., tooth 764-2) from a second jaw of the digital dentalmodel. Such reaction forces can also aid in bite setting the digitaldental model by aiding in determining a stable bite position. As one ofordinary skill in the art will appreciate, most dental patients may haveonly one stable bite position.

FIG. 8A illustrates a digital dental model in an initial position with anumber of forces acting thereon according to one or more embodiments ofthe present disclosure. The digital dental model 851 may be derived froman initial digital data set (IDDS) as described herein. The IDDS may bemanipulated by a computing device having a graphical user interface(GUI) and software (e.g., executable instructions that can be executedby a processor to cause the computing device to perform operations,where the instructions can be stored on a computing device readablephysical medium such as a magnetic disk, an optical disk, or a solidstate semiconductor device, among others).

The digital dental model 851 may include a mesh (e.g., a triangularmesh). The mesh can be divided into a collection of closed meshes ofseparate teeth. Some embodiments can include modeling each tooth of thedigital dental model 851 as a space volume with a constant densityconfined with a closed mesh.

As described herein, the digital dental model 851 can include an upperjaw 853 and a lower jaw 855 derived from scanning molds of a patient'supper jaw and lower jaw. Any scanning artifacts can be removed byappropriate algorithms or by a human operator. Likewise, astomatological number can be assigned to each tooth of the model 851 byan algorithm or by an operator.

As a mold of a patient's upper jaw and a mold of a patient's lower jawmay be scanned separately, the upper jaw 853 and lower jaw 855 of thedigital dental model 851 may have unique coordinate systems. Rigidmovement T_(final) can be found that transforms the coordinate system ofthe upper jaw 853 to the lower jaw 855, for example when the position ofthe lower jaw is fixed. However embodiments are not so limited, as theupper jaw 853 could be fixed while the lower jaw 855 could be allowed tomove.

Once teeth are recognized on the digital dental model, an approximationof where the upper jaw 853 and lower jaw 855 should be located withrespect to each other can be made. For example, an approximation can bemade for where each tooth on the upper jaw 853 should be located withrespect to a corresponding tooth on the lower jaw 855. Such anapproximation is referred to herein as an initial position.

An initial position of the upper jaw 853 and lower jaw 855 of thedigital dental model 851 can be formulated by fitting the two sets ofcorresponding 3D points by rigid transformation. Matching point cloudswith given correspondence can be performed as will be appreciated by oneof ordinary skill in the art.

From the initial position, the upper jaw 853 can be moved (e.g.,“lifted”) away from the lower jaw (e.g., in a direction along and/orparallel to the Z axis 870). For example, the upper jaw can be liftedapproximately 10-15 mm. From this point, simulation of movement of theupper jaw 853 in response to a number of forces may commence. An initialposition of the jaws of the digital dental model may be set before thesimulation of movement.

The upper jaw 853 can move in response to an axial force 868 operatingin the direction of the Z axis 870. The axial force 868 can act along anaxis between a center of mass of the upper jaw 853 and a center of massof the lower jaw 855 For example, the axial force 868 can be simulatedas gravity.

The upper jaw 853 can also move in response to a number of photoattraction forces (e.g., photo attraction forces 866-1 and 866-2). Whenthe upper jaw 853 comes into contact with the lower jaw 855, the upperjaw 853 can also move in response to a number of reaction forces (e.g.,from a simulated collisions between one or more teeth of the upper jaw853 and one or more teeth of the lower jaw 855).

Some embodiments include simulating movement of the upper jaw 853 inresponse to the axial force, the number of photo attraction forces, andthe number of reaction forces simultaneously. In various embodiments,the axial force can be held constant (e.g., throughout the simulation ofmovement).

As illustrated in FIG. 8A, different photo attraction forces fordifferent points can have different directions. For example, photoattraction force 866-1 acts in a different direction than photoattraction force 866-2 (e.g., between X point 858 and G⁻¹(x) point 860).Some x points marked on a photograph and transformed onto plane p maynot correspond exactly with X points marked on the digital dental model851. That is, there may be some margin of error involved in markingcorresponding points on both a photograph and on a digital dental model.

As described herein, jaws can be modeled as collections of separateteeth. Each tooth can be modeled as a space volume with a constantdensity (e.g., equal for all teeth), confined within a closed mesh(e.g., a triangular mesh). A reaction force can arise from each portion(e.g., triangle) of respective meshes of two or more teeth thatintersect according to the simulation of movement. The reaction forcecan be proportional to the area of the mesh portion and directed as anormal to the mesh portion.

Simulation of movement may continue until the axial force and the numberof photo attraction forces are compensated by the number of reactionforces. Such an equilibrium position (e.g., bite set) could be found, insome instances, without the use of photo attraction forces. However, insome instances, using an axial force and a number of reaction forcesalone may yield an inaccurate and/or incorrect bite set.

For example, some malocclusions can constrain the freedom of movement ofa jaw so that only part of the teeth, or fewer of the teeth, in thedigital dental model have normal contact with teeth in the opposite jaw.In such instances, the upper jaw of the digital dental model may fallbelow its desired position during the simulation.

A similar problem can occur with digital dental models of patients whohave one or more missing teeth. For example, if a patient has one ormore missing molars on the lower jaw, simulation of movement of theupper jaw of the digital dental model can result in the upper jawfalling into the hole where the missing molar would be (e.g., under theaction of the axial force).

Another example problem for digital dental modeling may occur forpatients who have significant tooth inclination. When a tooth hassignificant deviation from its normal position in the dental arch (e.g.,jaw) it can contact one or more teeth in the opposite jaw with the wronglingual surface. Such an instance can lead to an erroneous bite set ofthe digital dental model without the use of photo attraction forcesaccording to one or more embodiments of the present disclosure. That is,incorporating data from one or more photographs of the patient's jaws ina bite configuration can improve the accuracy of the bite settingprocess and reduce instances of erroneous bite setting due to patienttooth inclination, among other benefits.

An example scale of misalignment (L₀) of the bite set of the digitaldental model due to such anomalies can be on the order of about 1 mm. Invarious embodiments, the forces applied to the digital dental model canbe normalized such that: F_(axial)<<F_(photo)(L₀)<<F_(reaction)(L₀)where F_(axial) is the axial force (e.g., axial force 868),F_(photo)(L₀) is the photo attraction force caused by a 3D misalignmentof the size L₀, and F_(reaction)(L₀) is the reaction force due to toothintersection with a depth of L₀.

While simulation of movement and bite setting can be performed usingclassical mechanics, one or more embodiments of the present disclosureinclude the use of equations of energy-dissipating viscous movement.Such embodiments can provide better stability and convergence in thebite setting operation.

In various embodiments, simulation of movement of the digital dentalmodel (e.g., of one jaw of the digital dental model) may be performed indiscrete time steps. That is, the number of forces acting on the digitaldental model may be calculated and applied for a discrete period oftime, after which, the forces may be recalculated and reapplied. In someembodiments, the number of forces acting on the digital dental model(e.g., the axial force, the number of photo attraction forces, and/orthe number of reaction forces) may be held constant during a particulartime step.

During a bite setting operation, a first jaw of a digital dental modelcan be allowed to move while a second jaw of the digital dental modelcan be held fixed. Suppose that the origin of the first jaw coordinatesystem is at the center of mass of the first jaw. The position of thefirst jaw at time t can be defined by a transformation (R(t),T(t)),where R is a rotation component and T is a translation. Continuousmotion equations are:

d/dt R=(1/α)(Î ⁻¹ M)^(x) R   (6)

d/dt T=(1/α)(F/m)   (7)

where:

I is the first jaw's inertia tensor with respect to rotations about thecenter of mass of the first jaw;

Î is the inertia tensor transformed to a coordinate system of the secondjaw;

α>1 is the viscosity constant;

m is the mass of the first jaw;

F is the total applied force; and

M is the total applied moment.

For any 3D vector V, the operator V^(x) is defined by:

$\begin{matrix}{\begin{pmatrix}0 & {- V_{3}} & V_{2} \\V_{3} & 0 & {- V_{1}} \\{- V_{2}} & V_{1} & 0\end{pmatrix}.} & (8)\end{matrix}$

In some embodiments, the viscosity constant a and the time step of anumerical solution can be varied during simulation in order to reduceprocessing time.

FIG. 8B illustrates the digital dental model of FIG. 8A in a bite setposition according to one or more embodiments of the present disclosure.The upper jaw 853 and the lower jaw 855 of the digital dental model 851,in the illustration of FIG. 8A, have reached a stable bite set position.

In some embodiments, a bite set can be reported when the axial force,the number of photo attraction forces, and the number of reaction forcesreach an equilibrium. For example, the bite set can be reported when ajaw that is not fixed in the digital dental model (e.g., upper jaw 853)substantially ceases moving in the simulation of movement.

In some embodiments the simulation of movement can end when thenon-fixed jaw remains in substantially the same position for at leasttwo consecutive time steps. However, embodiments are not so limited as adifferent number of time steps can be selected.

Reporting a bite set can include providing a visual indication of a biteset for the digital dental model (e.g., in a bite configuration) on adisplay (e.g., on a computer monitor). The bite set can include theupper jaw 853 and the lower jaw 855 of the digital dental model 851 in abite configuration. In various embodiments, reporting a bite set caninclude printing an image of the digital dental model 851 in a biteconfiguration (e.g., on a printing device coupled to a computingdevice).

Tests of an embodiment of the present disclosure have indicated thatcalculation of photo attraction forces (e.g., compared to simulation ofmovement with only an axial force and a number of reaction forces) doesnot hinder simulation of movement of a jaw of a digital dental model. Anaverage computing device can provide convergence to a bite set in amatter of seconds. An additional benefit of one or more embodiments ofthe present disclosure includes the fact that an operator does not needto move the non-fixed jaw in six degrees of freedom in order for thebite setting operation to converge on an accurate solution, as may bethe case with some previous approaches.

FIG. 9 illustrates a digital dental model with simulated anatomicalmovement of a lower jaw according to one or more embodiments of thepresent disclosure. The digital dental model 951 can include asimulation of anatomical movement 975 of the lower jaw 955-1, 955-N withrespect to the upper jaw 953. The upper jaw 953 and lower jaw 955-1,955-N can be part of a 3D data set, e.g., one or more IDDS.

With respect to FIG. 9, the solid outline of the lower jaw 955-1represents the lower jaw in an open configuration with respect to theupper jaw 953. The dotted outline of the lower jaw 955-N represents thelower jaw in a closed configuration with respect to the upper jaw 953.The 3D digital dental model 951 can display the lower jaw in a number ofconfigurations including opened, closed, as well as configurationstherebetween.

An operator (e.g., a dental professional) can take a plurality of 2Dimages (e.g., photographs, X-rays, etc.) of at least a portion of apatient's jaws in a plurality of relative positions (e.g., opened,closed, and one or more different relative positions therebetween). Theplurality of 2D images can comprise and/or provide data for a pluralityof 2D data sets.

A plurality of 2D data sets, each derived from a 2D image of at least aportion of a patient's jaws can include a number of x points markedthereon, as described herein. A 2D data set can include a 2D imageand/or points marked on the 2D image (e.g., using a GUI displaying the2D image). Each 2D image of the patient's jaws can have corresponding xpoints marked thereon. For example, an x point marked on a tip of amandibular lateral incisor can be marked on the tip of the mandibularlateral incisor in each 2D image to help provide consistency between 2Dimages for mapping to the 3D digital dental model.

The 3D digital dental model 351 can include a number of X points markedthereon (e.g., X point 958) corresponding to the x points marked on theplurality of 2D images. For each X point, a plurality of G⁻¹(x) points(e.g., G⁻¹(x) points 960-1, 960-2, . . . , 960-N) can be mapped to the3D digital dental model 951 as described herein. Although only one Xpoint 958 and corresponding G⁻¹(x) points 960-1, 960-2, . . . , 960-Nare illustrated in FIG. 9, embodiments are not so limited as a number ofX points and corresponding G⁻¹(x) points can be used.

In one or more embodiments, the plurality of G⁻¹(x) points mapped to the3D digital dental model for each X point can provide a basis forextrapolating a range of motion 975 for the lower jaw 955-1, 955-N withrespect to the upper jaw 953. As described herein the plurality ofG⁻¹(x) points can be mapped to the 3D digital dental model bytransforming a coordinate system of the 2D data to a coordinate systemof the 3D data set.

Some embodiments can include determining a pivot point 976 (e.g.,tempromandibular joint or TMJ) for the lower jaw 955-1, 955-N in the 3Ddigital dental model 951. For example, coordinates for a number ofG⁻¹(x) points (e.g., G⁻¹(x) points 960-1, 960-2, . . . , 960-N)associated with a first tooth and with a number of 2D images can be usedto determine a focus of an arc created by the G⁻¹(x) points. Embodimentsare not limited to using this method for determining the pivot point ofthe lower jaw.

FIG. 10 illustrates a system for digital dental modeling according toone or more embodiments of the present disclosure. In the systemillustrated in FIG. 10, the system includes a computing device 1080having a number of components coupled thereto. The computing device 1080includes a processor 1081 and memory 1082. The memory can includevarious types of information including data 1083 and executableinstructions 1084 as discussed herein.

Memory and/or the processor may be located on the computing device 1080or off the device in some embodiments. As such, as illustrated in theembodiment of FIG. 10, a system can include a network interface 1085.Such an interface can allow for processing on another networkedcomputing device or such devices can be used to obtain information aboutthe patient or executable instructions for use with various embodimentsprovided herein.

As illustrated in the embodiment of FIG. 10, a system can include one ormore input and/or output interfaces 1086. Such interfaces can be used toconnect the computing device with one or more input or output devices.

For example, in the embodiment illustrated in FIG. 10, the systemincludes connectivity to a scanning device 1087, a camera dock 1088, aninput device 1089 (e.g., a keyboard, mouse, etc.), a display device 1090(e.g., a monitor), and a printer 1091. The input/output interface 1086can receive data, storable in the data storage device (e.g., memory1082), representing the digital dental model corresponding to thepatient's upper jaw and the patient's lower jaw.

In some embodiments, the scanning device 1087 can be configured to scana physical mold of a patient's upper jaw and a physical mold of apatient's lower jaw. In one or more embodiments, the scanning device1087 can be configured to scan the patient's upper and/or lower jawsdirectly. The scanning device can be configured to input data to thecorrelation module 1093.

The camera dock 1088 can receive an input from an imaging device (e.g.,a 2D imaging device) such as a digital camera or a printed photographscanner. The input from the imaging device can be stored in the datastorage device 1082. The input from the imaging device can represent aphotograph, for example, of a patient's upper jaw and the patient'slower jaw in a bite configuration. The input from the imaging device caninclude data representing a point marked on the photograph.

The processor 1081 can be configured to provide a visual indication of aphotograph and/or a digital dental model on the display 1090 (e.g., on aGUI running on the processor 1081 and visible on the display 1090). TheGUI can be configured to allow a user to mark one or more points on thephotograph and/or the digital dental model. Such points marked via theGUI can be received by the processor 1081 as data and/or stored inmemory 1082. The processor 1081 can be configured to map points markedon the photograph to the digital dental model and to provide a visualindication of one or both on the display 1090.

Such connectivity can allow for the input and/or output of imageinformation (e.g., scanned images or digital pictures, etc.) orinstructions (e.g., input via keyboard) among other types ofinformation. Although some embodiments may be distributed among variouscomputing devices within one or more networks, such systems asillustrated in FIG. 10 can be beneficial in allowing for the capture,calculation, and/or analysis of information discussed herein.

The processor 1081, in association with the data storage device 1082,can be associated with data and/or application modules 1092. Theprocessor 1081, in association with the data storage device 1082, canstore and/or utilize data and/or execute instructions to provide anumber of application modules for digital dental modeling.

Such data can include the 3D digital dental model 1051 described herein(e.g., including a first jaw and a second jaw) and a number of 2D images1050 (e.g., of a patient's jaws corresponding to the jaws of the 3Ddigital dental model 1051). Such application modules can include acorrelation module 1093, a position module 1095, and/or a display module1097.

The correlation module 1093 can be configured to correlate one or more2D images 1050 with the 3D digital dental model 1051. For example, thecorrelation module 1093 can be configured to transform points marked onthe one or more 2D images 1050 from a coordinate system associatedtherewith to a coordinate system associated with the 3D digital dentalmodel 1051.

The position module 1095 can be associated with the correlation module1093 and configured to bite set the first jaw and the second jaw of thedigital dental model based on output of the correlation module 1093.That is, the position module 1095 can provide the relative positioningand movement simulation of jaws of the 3D digital dental model describedherein. In one or more embodiments, during a bite setting operation, theposition module 1095 can be configured to use points marked on the 2Dimage and transformed from 2D to 3D coordinate systems as targets ofmovement for corresponding points marked on the 3D digital dental model.

According to one or more embodiments, the position module 1095 can beconfigured to simulate of anatomical movement of a lower jaw withrespect to an upper jaw of the digital dental model based on an outputof the correlation module 1093. For example, such output of thecorrelation module can include transformations of points marked on aplurality of 2D images from a coordinate system associated therewith toa coordinate system associated with the 3D digital dental model. Theposition module can be configured to determine a pivot point on the 3Ddigital dental model for the lower jaw and/or to extrapolate a range ofmotion of the lower jaw with respect to the upper jaw of the 3D digitaldental model as described herein.

The display module 1097 can be associated with the correlation module1093 and the position module 1095. The display module 1097 can beconfigured to provide a display of the 3D digital dental model and/orthe 2D image of the patient's jaws. For example, the display module canprovide a display of a simulation of anatomical movement output from theposition module 1095. The display module 1097 can provide such a displayvia display 1090.

Functionality of the display module 1097 (e.g., via a GUI) can allow auser to mark points on the 2D image and corresponding points on the 3Ddigital dental model. The correspondence of points marked on the 2Dimage and the 3D digital dental model can be improved (e.g., deviationbetween corresponding points can be reduced) according to embodiments inwhich the display module 1097 provides a simultaneous display of the 2Dimage and the 3D digital dental model.

Although specific embodiments have been illustrated and describedherein, those of ordinary skill in the art will appreciate that anyarrangement calculated to achieve the same techniques can be substitutedfor the specific embodiments shown. This disclosure is intended to coverany and all adaptations or variations of various embodiments of thedisclosure.

It is to be understood that the use of the terms “a”, “an”, “one ormore”, “a number of”, or “at least one” are all to be interpreted asmeaning one or more of an item is present. Additionally, it is to beunderstood that the above description has been made in an illustrativefashion, and not a restrictive one. Combination of the aboveembodiments, and other embodiments not specifically described hereinwill be apparent to those of skill in the art upon reviewing the abovedescription.

It will be understood that when an element is referred to as being “on,”“connected to” or “coupled with” another element, it can be directly on,connected, or coupled with the other element or intervening elements maybe present. In contrast, when an element is referred to as being“directly on,” “directly connected to” or “directly coupled with”another element, there are no intervening elements or layers present. Asused herein, the term “and/or” includes any and all combinations of oneor more of the associated listed items.

It will be understood that, although the terms first, second, etc. maybe used herein to describe various elements and that these elementsshould not be limited by these terms. These terms are only used todistinguish one element from another element. Thus, a first elementcould be termed a second element without departing from the teachings ofthe present disclosure.

The scope of the various embodiments of the disclosure includes anyother applications in which the above structures and methods are used.Therefore, the scope of various embodiments of the disclosure should bedetermined with reference to the appended claims, along with the fullrange of equivalents to which such claims are entitled.

In the foregoing Detailed Description, various features are groupedtogether in a single embodiment for the purpose of streamlining thedisclosure. This method of disclosure is not to be interpreted asreflecting an intention that the embodiments of the disclosure requiremore features than are expressly recited in each claim.

Rather, as the following claims reflect, inventive subject matter liesin less than all features of a single disclosed embodiment. Thus, thefollowing claims are hereby incorporated into the Detailed Description,with each claim standing on its own as a separate embodiment.

What is claimed:
 1. A method for digital dental modeling, comprising:receiving a three-dimensional data set including an upper jaw and alower jaw of a three-dimensional digital dental model; receiving aplurality of two-dimensional data sets each corresponding to at least aportion of the upper jaw and the lower jaw; mapping two-dimensional dataof the plurality of two-dimensional data sets to the three-dimensionaldigital dental model by transforming a coordinate system of thetwo-dimensional data to a coordinate system of the three-dimensionaldata set; and simulating anatomical movement of the lower jaw withrespect to the upper jaw based on the two-dimensional data mapped to thethree-dimensional data set in the three-dimensional digital dentalmodel.
 2. The method of claim 1, wherein the method includes determininga pivot point for the lower jaw in the three-dimensional digital dentalmodel.
 3. The method of claim 1, wherein the method includes determininga range of motion for the lower jaw in the three-dimensional digitaldental model.
 4. The method of claim 1, wherein the method includesreceiving a first portion of each of the plurality of two-dimensionaldata sets from a two-dimensional imaging device, where the first portionof each the plurality of two-dimensional data sets comprises one of aplurality of two-dimensional images, each of the plurality oftwo-dimensional images corresponding to the portion of the upper jaw andthe lower jaw in different relative positions.
 5. The method of claim 4,wherein the method includes receiving a second portion of each of theplurality of two-dimensional data sets from a graphical user interfacedisplaying one of the plurality of two-dimensional images, where thesecond portion of each of the plurality of two-dimensional data setscomprises at least three points marked on one of the plurality oftwo-dimensional images.
 6. The method of claim 1, wherein the methodincludes two-dimensionally imaging a patient's upper jaw and lower jawin a plurality of relative positions to generate the plurality oftwo-dimensional data sets.
 7. The method of claim 6, wherein the methodincludes two-dimensionally imaging the patient's upper jaw and lower jawwith one two-dimensional imaging device and without applying physicaltargets to the patient.
 8. A system for digital dental modeling,comprising: a three-dimensional digital dental model including an upperjaw and a lower jaw; a plurality of two-dimensional images of apatient's upper jaw and lower jaw corresponding to the upper jaw and thelower jaw of the three-dimensional digital dental model; and acorrelation module configured to correlate the plurality oftwo-dimensional images with the three-dimensional digital dental model.9. The system of claim 8, wherein the system includes a position moduleassociated with the correlation module and configured to simulateanatomical movement of the lower jaw with respect to the upper jaw ofthe three-dimensional digital dental model based on an output of thecorrelation module.
 10. The system of claim 8, wherein the systemincludes a display module associated with the position module andconfigured to provide a display of the anatomical movement output fromthe position module.
 11. The system of claim 8, wherein the plurality oftwo-dimensional images depict the patient's upper jaw and lower jaw in aplurality of different positions between opened and closed.
 12. Thesystem of claim 8, wherein the position module is configured toextrapolate a range of motion of the lower jaw with respect to the upperjaw.
 13. The system of claim 8, wherein the position module isconfigured to determine a pivot point on the three-dimensional digitaldental model for the lower jaw.
 14. The system of claim 8, wherein thesystem includes one two-dimensional imaging device configured togenerate the plurality of two-dimensional images without artificialtargets applied to the patient and without predetermined positioning ofthe two-dimensional imaging device.
 15. A non-transitory computingdevice readable medium storing a set of instructions executable to causethe computing device to: map two-dimensional data of a plurality oftwo-dimensional data sets each corresponding to at least a portion of anupper jaw and a lower jaw to a three-dimensional digital dental modelincluding the upper jaw and the lower jaw by transforming a coordinatesystem of the two-dimensional data to a coordinate system of thethree-dimensional data set; and simulate anatomical movement of thelower jaw with respect to the upper jaw based on the two-dimensionaldata mapped to the three-dimensional data set in the three-dimensionaldigital dental model.
 16. The medium of claim 15, including instructionsto determine a pivot point for the lower jaw in the three-dimensionaldigital dental model.
 17. The medium of claim 15, including instructionsto determine a range of motion for the lower jaw in thethree-dimensional digital dental model.
 18. The medium of claim 15,wherein a first portion of each of the plurality of two-dimensional datasets originated from a two-dimensional imaging device, where the firstportion of each the plurality of two-dimensional data sets comprises oneof a plurality of two-dimensional images, and where each of theplurality of two-dimensional images corresponding to the portion of theupper jaw and the lower jaw in different relative positions.
 19. Themedium of claim 18, including instructions to display one of theplurality of two dimensional images on a graphical user interface. 20.The medium of claim 19, including instructions to receive input from auser, comprising at least three points marked on the one of theplurality of two-dimensional images, via the graphical user interface,as a second portion of each of the plurality of two-dimensional datasets.